Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 844 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. Written for computer scientists and engineers with interests in artificial intelligence, robotics, or control theory, this is the only book on this topic that tightly integrates a vast body of literature from several fields into a coherent source for teaching and reference in a wide variety of applications. Difficult mathematical material is explained through hundreds of examples and illustrations.

Download or read book Planning Algorithms written by Steven M. LaValle and published by Cambridge University Press. This book was released on 2006-05-29 with total page 1029 pages. Available in PDF, EPUB and Kindle. Book excerpt: Planning algorithms are impacting technical disciplines and industries around the world, including robotics, computer-aided design, manufacturing, computer graphics, aerospace applications, drug design, and protein folding. This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms. The treatment is centered on robot motion planning, but integrates material on planning in discrete spaces. A major part of the book is devoted to planning under uncertainty, including decision theory, Markov decision processes, and information spaces, which are the 'configuration spaces' of all sensor-based planning problems. The last part of the book delves into planning under differential constraints that arise when automating the motions of virtually any mechanical system. This text and reference is intended for students, engineers, and researchers in robotics, artificial intelligence, and control theory as well as computer graphics, algorithms, and computational biology.

Download or read book Vision Based Mobile Robot Control and Path Planning Algorithms in Obstacle Environments Using Type 2 Fuzzy Logic written by Mahmut Dirik and published by Springer Nature. This book was released on 2021-03-01 with total page 143 pages. Available in PDF, EPUB and Kindle. Book excerpt: The book includes topics, such as: path planning, avoiding obstacles, following the path, go-to-goal control, localization, and visual-based motion control. The theoretical concepts are illustrated with a developed control architecture with soft computing and artificial intelligence methods. The proposed vision-based motion control strategy involves three stages. The first stage consists of the overhead camera calibration and the configuration of the working environment. The second stage consists of a path planning strategy using several traditional path planning algorithms and proposed planning algorithm. The third stage consists of the path tracking process using previously developed Gauss and Decision Tree control approaches and the proposed Type-1 and Type-2 controllers. Two kinematic structures are utilized to acquire the input values of controllers. These are Triangle Shape-Based Controller Design, which was previously developed and Distance-Based Triangle Structure that is used for the first time in conducted experiments. Four different control algorithms, Type-1 fuzzy logic, Type-2 Fuzzy Logic, Decision Tree Control, and Gaussian Control have been used in overall system design. The developed system includes several modules that simplify characterizing the motion control of the robot and ensure that it maintains a safe distance without colliding with any obstacles on the way to the target. The topics of the book are extremely relevant in many areas of research, as well as in education in courses in computer science, electrical and mechanical engineering and in mathematics at the graduate and undergraduate levels.

Download or read book Algorithmics of Large and Complex Networks written by Jürgen Lerner and published by Springer Science & Business Media. This book was released on 2009-07-02 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: A state-of-the-art survey that reports on the progress made in selected areas of this important and growing field, aiding the analysis of existing networks and the design of new and more efficient algorithms for solving various problems on these networks.

Download or read book Motion Planning in Medicine Optimization and Simulation Algorithms for Image Guided Procedures written by Ron Alterovitz and published by Springer Science & Business Media. This book was released on 2008-07-23 with total page 164 pages. Available in PDF, EPUB and Kindle. Book excerpt: Written by Ron Alterovitz and Ken Goldberg, this monograph combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures.

Download or read book Recent Advances in Robot Path Planning Algorithms a Review of Theory and Experiment written by Hadi Jahanshahi and published by . This book was released on 2020-03-23 with total page 135 pages. Available in PDF, EPUB and Kindle. Book excerpt: The dominant theme of this book is to introduce the different path planning methods and present some of the most appropriate ones for robotic routing; methods that are capable of running on a variety of robots and are resistant to disturbances; being real-time, being autonomous, and the ability to identify high risk areas and risk management are the other features that will be mentioned in the introduction of the methods. The introduction of the profound significance of the robots and delineation of the navigation and routing theme is provided in the first chapter of the book. The second chapter is concerned with the subject of routing in unknown environments. In the first part of this chapter, the family of bug algorithms including are described. In the following, several conventional methods are submitted. The last part of this chapter is dedicated to the introduction of two recently developed routing methods. In Chapter 3, routing is reviewed in the known environment in which the robot either utilizes the created maps by extraneous sources or makes use of the sensor in order to prepare the maps from the local environment. The robot path planning relying on the robot vision sensors and applicable computing hardware are concentrated in the fourth chapter. The first part of this chapter deals with routing methods supported mapping capabilities. The second part manages the routing dependent on vision sensor typically known as the best sensor within the routing subject. The movement of two-dimensional robots with two or three degrees of freedom is analyzed within the third part of this chapter. In Chapter 5, the performance of a few of the foremost important routing methods initiating from the second to fourth chapters is conferred regarding the implementation in various environments. The first part of this chapter is engaged in the implementation of the algorithms Bug1, Bug2, and Distbug on the pioneering robot. In the second part, a theoretical technique is planned to boost the robot's performance in line with obstacle collision avoidance. This method, underlying the tangential escape, seeks to proceed the robot through various obstacles with curved corners. In the third and fourth parts of this chapter, path planning in different environments is preceded in the absence and the presence of danger space. Accordingly, four approaches, named artificial fuzzy potential field, linguistic technique, Markov decision making processes, and fuzzy Markov decision making have been proposed in two following parts and enforced on the Nao humanoid robot.

Download or read book Robot Path Planning and Cooperation written by Anis Koubaa and published by Springer. This book was released on 2018-04-05 with total page 205 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents extensive research on two main problems in robotics: the path planning problem and the multi-robot task allocation problem. It is the first book to provide a comprehensive solution for using these techniques in large-scale environments containing randomly scattered obstacles. The research conducted resulted in tangible results both in theory and in practice. For path planning, new algorithms for large-scale problems are devised and implemented and integrated into the Robot Operating System (ROS). The book also discusses the parallelism advantage of cloud computing techniques to solve the path planning problem, and, for multi-robot task allocation, it addresses the task assignment problem and the multiple traveling salesman problem for mobile robots applications. In addition, four new algorithms have been devised to investigate the cooperation issues with extensive simulations and comparative performance evaluation. The algorithms are implemented and simulated in MATLAB and Webots.

Download or read book Electric Power System Planning written by Hossein Seifi and published by Springer Science & Business Media. This book was released on 2011-06-24 with total page 379 pages. Available in PDF, EPUB and Kindle. Book excerpt: The present book addresses various power system planning issues for professionals as well as senior level and postgraduate students. Its emphasis is on long-term issues, although much of the ideas may be used for short and mid-term cases, with some modifications. Back-up materials are provided in twelve appendices of the book. The readers can use the numerous examples presented within the chapters and problems at the end of the chapters, to make sure that the materials are adequately followed up. Based on what Matlab provides as a powerful package for students and professional, some of the examples and the problems are solved in using M-files especially developed and attached for this purpose. This adds a unique feature to the book for in-depth understanding of the materials, sometimes, difficult to apprehend mathematically. Chapter 1 provides an introduction to Power System Planning (PSP) issues and basic principles. As most of PSP problems are modeled as optimization problems, optimization techniques are covered in some details in Chapter 2. Moreover, PSP decision makings are based on both technical and economic considerations, so economic principles are briefly reviewed in Chapter 3. As a basic requirement of PSP studies, the load has to be known. Therefore, load forecasting is presented in Chapter 4. Single bus Generation Expansion Planning (GEP) problem is described in Chapter 5. This study is performed using WASP-IV, developed by International Atomic Energy Agency. The study ignores the grid structure. A Multi-bus GEP problem is discussed in Chapter 6 in which the transmission effects are, somehow, accounted for. The results of single bus GEP is used as an input to this problem. SEP problem is fully presented in Chapter 7. Chapter 8 devotes to Network Expansion Planning (NEP) problem, in which the network is planned. The results of NEP, somehow, fixes the network structure. Some practical considerations and improvements such as multi-voltage cases are discussed in Chapter 9. As NEP study is typically based on some simplifying assumptions and Direct Current Load Flow (DCLF) analysis, detailed Reactive Power Planning (RPP) study is finally presented in Chapter 10, to guarantee acceptable ACLF performance during normal as well as contingency conditions. This, somehow, concludes the basic PSP problem. The changing environments due to power system restructuring dictate some uncertainties on PSP issues. It is shown in Chapter 11 that how these uncertainties can be accounted for. Although is intended to be a text book, PSP is a research oriented topic, too. That is why Chapter 12 is devoted to research trends in PSP. The chapters conclude with a comprehensive example in Chapter 13, showing the step-by-step solution of a practical case.

Download or read book Algorithms for Optimization written by Mykel J. Kochenderfer and published by MIT Press. This book was released on 2019-03-12 with total page 521 pages. Available in PDF, EPUB and Kindle. Book excerpt: A comprehensive introduction to optimization with a focus on practical algorithms for the design of engineering systems. This book offers a comprehensive introduction to optimization with a focus on practical algorithms. The book approaches optimization from an engineering perspective, where the objective is to design a system that optimizes a set of metrics subject to constraints. Readers will learn about computational approaches for a range of challenges, including searching high-dimensional spaces, handling problems where there are multiple competing objectives, and accommodating uncertainty in the metrics. Figures, examples, and exercises convey the intuition behind the mathematical approaches. The text provides concrete implementations in the Julia programming language. Topics covered include derivatives and their generalization to multiple dimensions; local descent and first- and second-order methods that inform local descent; stochastic methods, which introduce randomness into the optimization process; linear constrained optimization, when both the objective function and the constraints are linear; surrogate models, probabilistic surrogate models, and using probabilistic surrogate models to guide optimization; optimization under uncertainty; uncertainty propagation; expression optimization; and multidisciplinary design optimization. Appendixes offer an introduction to the Julia language, test functions for evaluating algorithm performance, and mathematical concepts used in the derivation and analysis of the optimization methods discussed in the text. The book can be used by advanced undergraduates and graduate students in mathematics, statistics, computer science, any engineering field, (including electrical engineering and aerospace engineering), and operations research, and as a reference for professionals.

Download or read book Integration of Process Planning and Scheduling written by Rakesh Kumar Phanden and published by CRC Press. This book was released on 2019-10-16 with total page 259 pages. Available in PDF, EPUB and Kindle. Book excerpt: Both process planning and scheduling are very important functions of manufacturing, which affect together the cost to manufacture a product and the time to deliver it. This book contains various approaches proposed by researchers to integrate the process planning and scheduling functions of manufacturing under varying configurations of shops. It is useful for both beginners and advanced researchers to understand and formulate the Integration Process Planning and Scheduling (IPPS) problem effectively. Features Covers the basics of both process planning and scheduling Presents nonlinear approaches, closed-loop approaches, as well as distributed approaches Discuss the outfit of IPPS in Industry 4.0 paradigm Includes the benchmarking problems on IPPS Contains nature-algorithms and metaheuristics for performance measurements in IPPS Presents analysis of energy-efficient objective for sustainable manufacturing in IPPS

Download or read book Operational Freight Carrier Planning written by Jörn Schönberger and published by Springer Science & Business Media. This book was released on 2006-03-30 with total page 171 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book represents the compilation of several research approaches on opera tional freight carrier planning carried out at the Chair of Logistics, University of Bremen. It took nearly three years from the first ideas to the final version, now in your hands. During this time, several persons helped me all the time to keep on going and to re-start when I got stuck in a dead end or when I could not see the wood for the trees. I am deeply indebted to them for their encouragement and comments. Prof. Dr. Herbert Kopfer, holder of the Chair of Logistics, introduced me into the field of operational transport planning. He motivated and supervised me. Furthermore, he supported me constantly and allowed me to be as free as possible in my research and encouraged me to be as creative as necessary. In addition, I have to thank Prof. Dr. Hans-Dietrich Haasis, Prof. Dr. Martin G. Mohrle and Prof. Dr. Thorsten Poddig. On behalf of all my colleagues, who supported me in numerous ways, I have to say thank you to Prof. Dr. Dirk C. Mattfeld, Prof. Dr. Christian Bierwirth, Henner Gratz, Prof. Dr. Elmar Erkens, Nadja Shigo and Katrin Dorow. They all helped me even with my most obscure and dubious problems. My family supported me all the time. They always showed me their trust and encouraged me continuously. Special thanks are dedicated to my parents Monika and Heinz-Jiirgen.

Download or read book Automated Planning and Acting written by Malik Ghallab and published by Cambridge University Press. This book was released on 2016-08-09 with total page 373 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents the most recent and advanced techniques for creating autonomous AI systems capable of planning and acting effectively.

Download or read book The Complexity of Robot Motion Planning written by John Canny and published by MIT Press. This book was released on 1988 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Complexity of Robot Motion Planning makes original contributions both to roboticsand to the analysis of algorithms. In this groundbreaking monograph John Canny resolveslong-standing problems concerning the complexity of motion planning and, for the central problem offinding a collision free path for a jointed robot in the presence of obstacles, obtains exponentialspeedups over existing algorithms by applying high-powered new mathematical techniques.Canny's newalgorithm for this "generalized movers' problem," the most-studied and basic robot motion planningproblem, has a single exponential running time, and is polynomial for any given robot. The algorithmhas an optimal running time exponent and is based on the notion of roadmaps - one-dimensionalsubsets of the robot's configuration space. In deriving the single exponential bound, Cannyintroduces and reveals the power of two tools that have not been previously used in geometricalgorithms: the generalized (multivariable) resultant for a system of polynomials and Whitney'snotion of stratified sets. He has also developed a novel representation of object orientation basedon unnormalized quaternions which reduces the complexity of the algorithms and enhances theirpractical applicability.After dealing with the movers' problem, the book next attacks and derivesseveral lower bounds on extensions of the problem: finding the shortest path among polyhedralobstacles, planning with velocity limits, and compliant motion planning with uncertainty. Itintroduces a clever technique, "path encoding," that allows a proof of NP-hardness for the first twoproblems and then shows that the general form of compliant motion planning, a problem that is thefocus of a great deal of recent work in robotics, is non-deterministic exponential time hard. Cannyproves this result using a highly original construction.John Canny received his doctorate from MITAnd is an assistant professor in the Computer Science Division at the University of California,Berkeley. The Complexity of Robot Motion Planning is the winner of the 1987 ACM DoctoralDissertation Award.

Download or read book Effective Resource Management in Manufacturing Systems written by Massimiliano Caramia and published by Springer Science & Business Media. This book was released on 2006-01-09 with total page 246 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manufacturing systems, regardless of their size, have to work with scarce resources in dynamic environments. Effective Resource Management in Manufacturing Systems aims to provide methods for achieving effective resource allocation and to solve related problems that occur daily and often generate cost overruns. This book will be bought by postgraduate students of business, engineering and computer science as well as researchers in these fields. It will also be of interest to practitioners in manufacturing systems and operations managers in industry.

Download or read book Handbook of Applied Algorithms written by Amiya Nayak and published by John Wiley & Sons. This book was released on 2007-11-09 with total page 560 pages. Available in PDF, EPUB and Kindle. Book excerpt: Discover the benefits of applying algorithms to solve scientific, engineering, and practical problems Providing a combination of theory, algorithms, and simulations, Handbook of Applied Algorithms presents an all-encompassing treatment of applying algorithms and discrete mathematics to practical problems in "hot" application areas, such as computational biology, computational chemistry, wireless networks, and computer vision. In eighteen self-contained chapters, this timely book explores: * Localized algorithms that can be used in topology control for wireless ad-hoc or sensor networks * Bioinformatics algorithms for analyzing data * Clustering algorithms and identification of association rules in data mining * Applications of combinatorial algorithms and graph theory in chemistry and molecular biology * Optimizing the frequency planning of a GSM network using evolutionary algorithms * Algorithmic solutions and advances achieved through game theory Complete with exercises for readers to measure their comprehension of the material presented, Handbook of Applied Algorithms is a much-needed resource for researchers, practitioners, and students within computer science, life science, and engineering. Amiya Nayak, PhD, has over seventeen years of industrial experience and is Full Professor at the School of Information Technology and Engineering at the University of Ottawa, Canada. He is on the editorial board of several journals. Dr. Nayak's research interests are in the areas of fault tolerance, distributed systems/algorithms, and mobile ad-hoc networks. Ivan StojmenoviC?, PhD, is Professor at the University of Ottawa, Canada (www.site.uottawa.ca/~ivan), and Chair Professor of Applied Computing at the University of Birmingham, United Kingdom. Dr. Stojmenovic? received the Royal Society Wolfson Research Merit Award. His current research interests are mostly in the design and analysis of algorithms for wireless ad-hoc and sensor networks.

Download or read book Intelligent Planning for Mobile Robotics Algorithmic Approaches written by Tiwari, Ritu and published by IGI Global. This book was released on 2012-09-30 with total page 320 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robotics is an ever-expanding field and intelligent planning continues to play a major role. Given that the intention of mobile robots is to carry out tasks independent from human aid, robot intelligence is needed to make and plan out decisions based on various sensors. Planning is the fundamental activity that implements this intelligence into the mobile robots to complete such tasks. Understanding problems, challenges, and solutions to path planning and how it fits in is important to the realm of robotics. Intelligent Planning for Mobile Robotics: Algorithmic Approaches presents content coverage on the basics of artificial intelligence, search problems, and soft computing approaches. This collection of research provides insight on both robotics and basic algorithms and could serve as a reference book for courses related to robotics, special topics in AI, planning, applied soft computing, applied AI, and applied evolutionary computing. It is an ideal choice for research students, scholars, and professors alike.

Download or read book Principles of Knowledge Representation and Reasoning written by Jon Doyle and published by Morgan Kaufmann. This book was released on 1994 with total page 680 pages. Available in PDF, EPUB and Kindle. Book excerpt: The proceedings of KR '94 comprise 55 papers on topics including deduction an search, description logics, theories of knowledge and belief, nonmonotonic reasoning and belief revision, action and time, planning and decision-making and reasoning about the physical world, and the relations between KR